Secondly, we want to thanks our supervisor Anna Runemalm, she is really kind, nice and patient. In the process of the project, we have met many problems and she always help us, when we have no idea about our project, she gives good help for us.
Thirdly, we want to appreciate Appelgren Anders, when we try our experiments, he gives us lot of help for the equipment and the thoughts of our test.
Fourthly, we want to thanks University West to give us such a good chance to try our best to do this thesis project.
Then, we want to appreciate the company AvenPallen trust us and give us this chance to have this thesis project.
Finally, we want to thank ourselves, although there also are some shortcuts, we also try our best to do this project and have such a nice experience.
Contents
Summary    i
摘要ii
Preface    iii
Symbols and glossary    vi
1    Introduction    1
1.1    Background    1
1.2    Problem description    1
1.3    Scope    1
2    Methodology    1
3    Theory    2
3.1    Mechanical inspection    2
3.2    Optical inspection    3
3.2.1    The optical alarm    3
3.3    Vision technique    3
3.3.1    The introduction of vision technique    3
3.3.2    The type of application    4
3.4    3D laser scanning    5
3.4.1    The type of 3D laser scanning technology    5
4    Design    5
4.1    Mechanical inspection system    6
4.1.1    The suggested mechanical inspection    6
4.2    Optical inspection system    7
4.2.1    The suggested optical inspection system    7
4.3    Suggested vision technique    8
4.3.1    The suggested vision technique system    8
4.4    Suggested 3D laser scanning    9
4.4.1    The suggested laser scanning system    9
4.5    Improve system    10
4.5.1    Improvement of optical inspection system    11
4.5.2    Improvement of vision technique system    12
4.6    Comparison of four systems    13
5    Evaluate of system performance    14
5.1    The test of optical inspection system    15
5.2    The test of shadow inspection system    17
6    Image analysis    21
6.1    Direct measured method    21
6.2    Software measured method    21
7    Results    24
7.1    The results of optical inspection system    24
7.2    The results of the shadow inspection system    25
8    Conclusions and future work    26
References    27

Appendices.Appendix
 
A.    First appendix
B.    Second appendix
C.    Third appendix

 
Symbols and glossary
CCD camera: Charge Coupled Device camera.
PLC: Programmable Logic Controller. 木板钉子缺陷检查系统设计(2):http://www.youerw.com/zidonghua/lunwen_13067.html